After a five-night stay undergoing treatment for a bladder infection, the duke, who turns 91 Sunday, has left the hospital, BBC News reports.

“The Duke of Edinburgh continues to make a good recovery,” a Buckingham Palace spokesman said of Philip, who waved to well-wishers as he left the hospital Saturday. “He will continue his convalescence at home. He will spend the weekend privately.”

Prior to his hospitalization, which was described “as a precautionary measure,” Philip stood alongside the Royal Family on Sunday in the freezing rain for four hours during the Diamond Jubilee river pageant honoring the Queen’s 60-year reign.

He was then rushed from Windsor Castle to London’s King Edward VII Hospital on Monday.